CN107440745A - A kind of ultrasound machine people inspection system - Google Patents
A kind of ultrasound machine people inspection system Download PDFInfo
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- CN107440745A CN107440745A CN201710797677.6A CN201710797677A CN107440745A CN 107440745 A CN107440745 A CN 107440745A CN 201710797677 A CN201710797677 A CN 201710797677A CN 107440745 A CN107440745 A CN 107440745A
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- mechanical arm
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
Abstract
A kind of ultrasound machine people inspection system of disclosure of the invention, including inspection machine people, image checking component, operating side and controller, inspection machine people include ultrasonic probe, for carrying out ultrasonic examination to patient；Image checking component is used for image information and the display for gathering patient and inspection machine people；Operating side is used for the operation information for receiving operator；Controller electrically connects with detection robot, the image checking component and the operation handle respectively, the operation information that the controller receives according to the operation handle, controls the inspection machine people to work.During using the inspection system, the image information that operator is shown by observing image checking component, inspection machine people is controlled to carry out ultrasonic examination to patient using operating side, the position of ultrasonic probe and the conversion of posture are realized by operating side, the burden of doctor can be mitigated, avoid because hand-motion jitter and caused by feed back ultrasonic image instability problem, improve obtain ultrasonic image quality.
Description
Technical field
The present invention relates to technical field of medical equipment, more particularly to a kind of ultrasound machine people inspection system.
Background technology
Ultrasonic examination is to be propagated using ripple caused by ultrasound in human body, by oscillography screen show internal various organs with
Organize to super sonic reflection and decrease rule the method that diagnoses the illness.Because ultrasonic probe move mode is flexible, thus extensively
It is general to be applied to human body situation inspection.
In existing ultrasonic wave physical examination operation, doctor's hand-held ultrasound probe, moved in the body surface where human body organ to be checked
Dynamic and adjustment ultrasonic probe position and posture, obtain the ultrasonograph of human organ, and then judge health status.Due to
Check-up crowd is large number of, causes doctor's operating burden weight, easily triggers the occupational diseases such as doctor's scapulohumeral periarthritis, moreover, doctor holds
The mode of ultrasonic probe, position inaccurate are artificial mobile inaccurate especially when converting the position of ultrasonic probe and posture
Really, easily influence the accuracy of inspection result, in addition, can because doctor's hand-motion jitter and caused by the ultrasonic image that feeds back unstable ask
Topic.
The content of the invention
It is an object of the invention to propose a kind of ultrasound machine people inspection system, in the detecting system, operator passes through
Control operation end adjustment ultrasonic probe position and posture, avoid because hand-motion jitter and caused by feed back ultrasonic image it is unstable
Problem.
To use following technical scheme up to this purpose, the present invention：
A kind of ultrasound machine people inspection system, including：
Inspection machine people, including ultrasonic probe, for carrying out ultrasonic examination to patient；
Image checking component, for gathering image information and the display of patient and inspection machine people；
Operating side, for receiving the operation information of operator；
Controller, electrically connected respectively with detection robot, image checking component and operation handle, controller is according to manipulator
The operation information that handle receives, the people's work of control inspection machine.
Wherein, image checking component includes image capture module and image display, and image capture module is located at patient
The top of detection position is simultaneously connected with image display.
Wherein, image capture module is camera；Image display is display.
Wherein, operating side includes operation handle, and operation handle sets force feedback component, and force feedback component, which is used to perceive, to be grasped
The power that author applies, and it is sent to controller.
Wherein, operation information includes the stress of handle moving direction and handle.
Wherein, inspection machine people includes：
Clamping device, popped one's head in for clamping ultrasonic, the adjustable length of clamping device, to clamp the ultrasonic wave of different length
Probe；
Universal adjusting mechanism, clamping device is installed thereon, it is super to adjust for adjusting the angles and positions of clamping device
The angles and positions of sonic probe；
Positioning mechanical arm, is connected with Universal adjusting mechanism.
Wherein, positioning mechanical arm includes：
Fixed seat；
First mechanical arm, it is rotationally connected with fixed seat, and the first drive mechanism with being installed on fixed seat is connected, and first
Drive mechanism driving first mechanical arm rotates around the first direction of rotation；
Second mechanical arm, it is rotationally connected with first mechanical arm, and the second driving machine with being installed in first mechanical arm
Structure connects, and the second drive mechanism driving second mechanical arm rotates around the second direction of rotation；
Three-mechanical arm, it is rotationally connected with second mechanical arm, and the 3rd driving machine with being installed in second mechanical arm
Structure connects, and the 3rd drive mechanism driving three-mechanical arm rotates around the 3rd direction of rotation；
4th mechanical arm, it is rotationally connected with three-mechanical arm, and the 4th driving machine with being installed on three-mechanical arm
Structure connects, and the 4th drive mechanism can drive the 4th mechanical arm to be rotated around the 4th direction of rotation；
5th mechanical arm, it is rotationally connected with the 4th mechanical arm, and the 5th driving machine with being installed on the 4th mechanical arm
Structure connects, and the 5th drive mechanism can drive the 5th mechanical arm to be rotated around the 5th direction of rotation；
Universal adjusting mechanism is arranged on the 5th mechanical arm, and the 6th drive mechanism with being installed on the 5th mechanical arm connects
Connect, the 6th drive mechanism can drive Universal adjusting mechanism to be rotated around the 6th direction of rotation.
Wherein, Universal adjusting mechanism includes：
Pedestal；
Support, it is rotatablely connected with pedestal；
Workbench, it is connected positioned at the one end of support away from pedestal and with holder pivots；
Component is adjusted, is connected on support and with workbench；
Power Component, it is arranged on pedestal and is connected with adjustment component, controls support or workbench to turn by adjusting component
Dynamic, the rotary shaft of support and the rotary shaft of workbench are not parallel.
Wherein, adjustment component includes spaced first gear and second gear, between first gear and second gear
Engagement is provided with the 3rd gear, and first gear, second gear and the 3rd gear are connected with holder pivots, the 3rd gear and work
Platform connects；First gear in the same direction or rotates backward with second gear, for driving workbench or holder pivots.
Wherein, clamping device includes length-adjustable location-plate, and at least one holder being arranged on location-plate,
Ultrasonic probe is gripped by holder, and location-plate is arranged on Universal adjusting mechanism and adjusts angle by Universal adjusting mechanism
And position.
Wherein, location-plate includes upper location-plate and lower location-plate, and length adjustment is provided between upper location-plate and lower location-plate
Device, length adjustment device include driving lever, transmission component and reset assembly, and driving lever is rotatably connected in upper location-plate, transmission group
The both ends of part are rotationally connected with driving lever and lower location-plate respectively, and the position between transmission component both ends is rotatably connected on positioning
On plate, reset assembly is connected to upper location-plate and lower location-plate.
Beneficial effect：The invention provides a kind of ultrasound machine people inspection system, during using the inspection system, operator
The image information shown by observing image checking component, inspection machine people is controlled to carry out ultrasonic wave inspection to patient using operating side
Look into, the position of ultrasonic probe and the conversion of posture are realized by operating side, the burden of doctor can be mitigated, avoided because hand quivers
Tremble and cause the ultrasonic image instability problem of feedback, improve the quality of the ultrasonic image of acquisition.
Brief description of the drawings
Fig. 1 is the structural representation of ultrasound machine people inspection system provided in an embodiment of the present invention.
Fig. 2 is the structural representation one of inspection machine people provided in an embodiment of the present invention；
Fig. 3 is the structural representation two of inspection machine people provided in an embodiment of the present invention；
Fig. 4 is the sectional view of fixed seat and first mechanical arm provided in an embodiment of the present invention；
Fig. 5 is the structural representation of the 4th mechanical arm provided in an embodiment of the present invention；
Fig. 6 is the structural representation of three-mechanical arm provided in an embodiment of the present invention；
Fig. 7 is the structural representation of the 5th mechanical arm provided in an embodiment of the present invention；
Fig. 8 is the structural representation of Universal adjusting mechanism and clamping device provided in an embodiment of the present invention；
Fig. 9 is the structural representation one of Universal adjusting mechanism provided in an embodiment of the present invention；
Figure 10 is the structural representation two of Universal adjusting mechanism provided in an embodiment of the present invention；
Figure 11 is the Principles of Regulation structural representation of the support in Universal adjusting mechanism provided in an embodiment of the present invention；
Figure 12 is the Principles of Regulation structural representation of the workbench in Universal adjusting mechanism provided in an embodiment of the present invention；
Figure 13 is the structural representation of the support in Universal adjusting mechanism provided in an embodiment of the present invention；
Figure 14 is the front view of clamping device provided in an embodiment of the present invention；
Figure 15 is the dimensional structure diagram of clamping device provided in an embodiment of the present invention；
Figure 16 is the upper location-plate and the separated structural representation of lower location-plate of the clamping device shown in Figure 15 of the present invention.
Wherein：
100th, inspection machine people；201st, camera；202nd, display；300th, operating side；400th, controller；
1st, positioning mechanical arm；11st, fixed seat；12nd, first mechanical arm；13rd, second mechanical arm；131st, the first montant；132、
Second montant；133rd, cross bar；14th, three-mechanical arm；15th, the 4th mechanical arm；151st, link；152nd, the first extension；153、
Second extension；16th, the 5th mechanical arm.
2nd, Universal adjusting mechanism；21st, pedestal；22nd, support；23rd, workbench；211st, bottom plate；212nd, the first bearing；213rd,
Two bearings；214th, three abutments；221st, middle support plate；222nd, the first side plate；223rd, the second side plate；231st, connecting plate；232nd,
One supporting plate；233rd, the second supporting plate；241st, first gear；242nd, second gear；243rd, the 3rd gear；244th, the first transmission
Axle；245th, second driving shaft；246th, the 3rd power transmission shaft；251st, first bevel gear；252nd, third hand tap gear；253rd, the second cone tooth
Wheel；254th, the 4th bevel gear；255th, the first motor；256th, the second motor；261st, worm screw；262nd, worm gear；263rd, rotating shaft；
3rd, clamping device；31st, location-plate；32nd, length adjustment device；33rd, holder；311st, upper location-plate；312nd, it is lower fixed
Position plate；313rd, baffle plate；321st, driving lever；322nd, first connecting rod；323rd, second connecting rod；324th, third connecting rod；325th, fourth link；
326th, the 5th connecting rod；327th, six-bar linkage；328th, seven-link assembly；329th, push rod；32a, sliding block；32b, chute；32c, flexible bullet
Spring；
4th, ultrasonic probe.
Embodiment
For make present invention solves the technical problem that, the technical scheme that uses and the technique effect that reaches it is clearer, below
Technical scheme is further illustrated with reference to accompanying drawing and by embodiment.
As shown in Fig. 1-Figure 16, a kind of ultrasound machine people inspection system, including inspection machine people are present embodiments provided
100th, image checking component, operating side 300 and controller 400, inspection machine people 100 includes ultrasonic probe 4, for patient
Carry out ultrasonic examination；Image checking component is used for image information and the display for gathering patient and inspection machine people 100；Operating side
300 operation information for receiving operator；Controller 400 is respectively with detecting robot, image checking component and operation handle
Electrical connection, the operation information that controller 400 receives according to operation handle, control inspection machine people 100 work.
As shown in figure 1, during using the inspection system, patient can lie low can be located in examination couch, inspection machine people 100
The side of patient, the convenient ultrasonic probe 4 controlled on inspection machine people 100 are checked the affected areas of patient.Check
During, image information that operator can be shown by observing image checking component, using operating side 300 to controller 400
Operation information is sent, controller 400 controls inspection machine people 100 to move according to the operation information received, so that ultrasonic
Ripple probe 4 can move according to the requirement of operator in the detection position of patient, so as to carry out ultrasonic examination to patient.Pass through
The position of ultrasonic probe 4 and the conversion of posture are realized in operating side 300, can mitigate the burden of operator, avoid because hand quivers
Tremble and cause the ultrasonic image instability problem of feedback, improve the quality of the ultrasonic image of acquisition.
In the present embodiment, image checking component includes image capture module and image display, image capture module position
It is connected in the top of patient's detection position and with image display, image capture module is used to gather patient and ultrasonic probe
4 location drawing picture, and send to image display and show, to facilitate operator to control ultrasonic probe 4 by operating side 300
Movement.Wherein, image capture module can be camera 201, and image display can be display 202, camera 201
It can also move or rotate within the specific limits, allow it to collect the image of corresponding detection position.
Operator transmits operation information by operating side 300 to controller 400, and automatically controls inspection by controller 400
Look into robot 100 to work, alleviate the burden of operator, and the movement of ultrasonic probe 4 is more steady, the ultrasonic wave shadow of acquisition
As more steady.Operating side 300 can include operation handle, rotation or movement of operator's control operation handle to all directions
When, operation handle sends corresponding movable information to controller 400, so as to control inspection machine people 100 by controller 400
Perform corresponding operation.Certainly, operating side 300 can also be other structures, as long as operator's remote operation inspection can be realized
Robot 100 works.
Further to optimize the operation information transmitted to controller 400 operating side 300, to obtain more preferable Checking on effect,
Operating side 300 can include the stressing conditions of handle moving direction and handle to the operation information that controller 400 is sent.Manipulator
Handle can set force feedback component, and force feedback component is used for the power that sense operation person applies, and is sent to controller 400.Control
The mobile location information of the binding operation handle transmission of device 400 processed and the information of operator's applying power, can more be accurately controlled
The motion of ultrasonic probe 4 in inspection machine people 100, preferably to replace manual operation by inspection machine people 100.
As shown in Figures 2 and 3, to enable inspection machine people 100 to drive ultrasonic probe 4 to realize multi-direction, multi-angle
Motion, be bonded the check point of human body, to obtain more preferable Checking on effect, in the present embodiment, inspection machine people 100 includes fixed
Position mechanical arm 1, Universal adjusting mechanism 2 and clamping device, Universal adjusting mechanism 2 are connected with positioning mechanical arm 1；Visit clamping device with
Universal adjusting mechanism 2 connects, and ultrasonic probe 4 is fixed on clamping device 3.
Positioning mechanical arm 1 includes being sequentially connected fixed seat 11, first mechanical arm 12, second mechanical arm 13, three-mechanical arm
14th, the 4th mechanical arm 15 and the 5th mechanical arm 16, multiple mechanical arms make it that the motion of positioning mechanical arm 1 is more flexible.Fixed seat
First drive mechanism is installed in 11, wherein, the first drive mechanism is harmonic wave reducing motor, and harmonic speed reducer includes cam structure
Wave producer, flexbile gear and firm gear, actively, then another is driven for cam structure wave producer, flexbile gear and firm gear any two；The
The firm gear of one drive mechanism is fixed in fixed seat 11.
First mechanical arm 12 is rotationally connected with fixed seat 11, and the first drive mechanism with being installed on fixed seat 11 is connected,
Specifically, first mechanical arm 12 is fixed in the flexbile gear of the first drive mechanism, the first drive mechanism drive first mechanical arm 12 around
First direction of rotation (Z-direction i.e. shown in Fig. 2) rotates, and direction rotates first mechanical arm 12 about the z axis, can adjust inspection machine
The general orientation of ultrasonic probe 4 in people 100, it is moved downward to convenience for ultrasonic ripple probe 4 near the check point of patient.
The other end of first mechanical arm 12 is provided with the second drive mechanism, wherein, the second drive mechanism is also harmonic wave reducing motor, second
The flexbile gear of drive mechanism is installed in first mechanical arm 12.
The both sides of second mechanical arm 13 are rotationally connected with first mechanical arm 12, and with being installed in first mechanical arm 12
Two drive mechanisms connect, specifically, the side of second mechanical arm 13 is fixed in the firm gear of the second drive mechanism, opposite side passes through bearing
It is rotatablely connected with first mechanical arm 12, the second drive mechanism drives second mechanical arm 13 to be rotated around the second direction of rotation, wherein, the
The rotary shaft of the rotary shaft and first mechanical arm 12 of two mechanical arms 13 is not parallel..Wherein, second mechanical arm 13 is H type structures, bag
Include the first montant 131, the second montant 132 and connection the first montant 131 and the second montant 132 cross bar 133, the first montant 131,
Second montant 132 and cross bar 133 are equipped with hollow cavity, and the first motor is provided with the hollow cavity of cross bar 133.First
Motor is harmonic wave reducing motor, and the flexbile gear of the first motor is fixed in the first montant 131.
The both sides of three-mechanical arm 14 are rotationally connected with second mechanical arm 13, and with being installed in second mechanical arm 13
Three drive mechanisms connect, and the 3rd drive mechanism driving three-mechanical arm rotates around the 3rd direction of rotation, wherein, three-mechanical arm 14
Rotary shaft is parallel with the rotary shaft of second mechanical arm 13；Wherein, the 3rd drive mechanism include the first belt pulley (non-label in figure),
Second belt pulley (non-label in figure) and the first belt (non-label in figure) of the first belt pulley of connection and the second belt pulley；First
Belt pulley is connected to the first motor, and the first motor is installed in second mechanical arm 13, for driving the first belt pulley
Rotation；Specifically, the firm gear of the first motor and the first belt pulley are affixed.Second belt pulley is fixedly arranged on three-mechanical arm 14
On.When the 3rd drive mechanism drives the first pulley rotation, by first the second pulley rotation of belt drive, and then second
The belt pulley band three-mechanical arm 14 affixed with it turns about the X axis.First montant 131 (is not marked provided with the first tensioning wheel in figure
Number), the first tensioning wheel is arranged between the first belt pulley and the second belt pulley, and presses on belt, for adjusting the first belt
Rate of tension, so as to ensure that fixed transmission between first belt pulley and the second belt pulley is safe and reliable, and then ensure the 3rd machinery
Stability when arm 14 rotates.4th drive mechanism is installed, the 4th drive mechanism is harmonic reduction tooth on three-mechanical arm 14
Wheel, the flexbile gear of the 4th drive mechanism are fixed in three-mechanical arm 14.
4th mechanical arm 15 is rotationally connected with one end of three-mechanical arm 14, and with being installed on three-mechanical arm 14
Four drive mechanisms connect, and the 4th drive mechanism can drive the 4th mechanical arm 15 to be rotated around the 4th direction of rotation, wherein, the 4th machine
The rotary shaft and the rotary shaft of three-mechanical arm 14 of tool arm 15 are not parallel；Specifically, one end of the 4th mechanical arm 15 is fixed in
The firm gear of four drive mechanisms.4th mechanical arm 15 is U-shaped frame, as shown in figure 5, including link 151, and perpendicular to link
151 the first extensions 152 and the second extension 153 extended to homonymy, link 151, the first extension 152 and the second extension
Portion 153 is equipped with hollow cavity, and the second motor is provided with the hollow cavity of link 151, and the second motor is humorous
Ripple reducing motor, the flexbile gear of the second motor are fixed in the first extension 152.
The both sides of 5th mechanical arm 16 are rotationally connected with the 4th mechanical arm 15, and with being installed on the 4th mechanical arm 15
Five drive mechanisms connect, and the 5th drive mechanism can drive the 5th mechanical arm 16 to be rotated around the 5th direction of rotation, wherein, the 5th machine
The rotary shaft of tool arm 16 and the rotary shaft of the 4th mechanical arm 15 are not parallel but parallel with the rotary shaft of three-mechanical arm 14.5th
Drive mechanism includes the 3rd belt pulley (non-label in figure), the 4th belt pulley (non-label in figure) and the 3rd belt pulley of connection and the
The second belt (non-label in figure) of four belt pulleys, the 3rd belt pulley are fixed in the second motor, the installation of the second motor
In on the 4th mechanical arm 15, for driving the rotation of the 3rd belt pulley, the 3rd belt pulley is fixedly arranged on the 4th mechanical arm 15.Specifically,
3rd belt pulley is fixed in the firm gear of the second motor.When the second motor drives the rotation of the 3rd belt pulley, the 3rd belt
Wheel is rotated by the belt pulley of belt drive the 4th, and then the 5th mechanical arm 16 rotates with the 4th belt pulley.First extension 152 is set
There is the second tensioning wheel (non-label), the second tensioning wheel is arranged between the 3rd belt pulley and the 4th belt pulley, and presses on second
Belt, for adjusting the rate of tension of the second belt, so as to ensure fixed transmission safety between 3rd belt pulley and the 4th belt pulley
Reliably, stability when and then the 5th mechanical arm 16 of guarantee rotates.
5th mechanical arm 16 is provided with the 6th drive mechanism, wherein, the 6th drive mechanism is harmonic wave reducing motor, and the 6th drives
The flexbile gear of motivation structure is fixed in one end of the 5th mechanical arm 16, and Universal adjusting mechanism 2 is installed on the 5th mechanical arm 16, and with
The firm gear of six drive mechanisms is affixed, and the 6th drive mechanism is used to drive Universal adjusting mechanism 2 to rotate around the 6th direction of rotation, its
In, the rotary shaft of Universal adjusting mechanism 2 and the rotary shaft of the 5th mechanical arm 16 are not parallel.
The positioning mechanical arm 1 that the present embodiment provides, passes through the first drive mechanism so that whole mechanical arm can be realized around the
One direction of rotation rotates；By the second drive mechanism, pitching can be carried out around the second direction of rotation by realizing second mechanical arm 13；
By the 3rd drive mechanism, realizing three-mechanical arm 14 can rotate around the 3rd direction of rotation, and then realize the 3rd machinery
The pitching of arm 14；By the 4th drive mechanism, realizing the 4th mechanical arm 15 can be around the rotation of the 4th direction of rotation；Pass through
Five drive mechanisms, rotation of the 5th mechanical arm 16 around the 5th direction of rotation is realized, and then realize bowing for the 5th mechanical arm 16
Face upward, by the 6th drive mechanism, realize Universal adjusting mechanism 2 and rotated around the 6th direction of rotation so that the energy of Universal adjusting mechanism 2
Enough realize that six degree of freedom rotates.
As shown in figure 8, positioning mechanical arm 1 is also associated with Universal adjusting mechanism 2, wherein clamping device 3 is arranged on universal tune
On complete machine structure 2, and angles and positions are adjusted by the Universal adjusting mechanism 2, ultrasonic probe is clamped with clamping device
4, by the comprehensive regulation of the angles and positions of clamping device 3, the angles and positions of above-mentioned ultrasonic probe 4 are also with clamping machine
Structure 3 is adjusted, and then realizes the comprehensive regulation of the ultrasonic probe 4, to meet the needs of different occasions.
Referring to Fig. 9 and Figure 10, Universal adjusting mechanism 2 includes pedestal 21, support 22, workbench 23, adjustment mechanism and power
Component, support 22 are rotatablely connected with pedestal 21, and workbench 23 is located at the one end of support 22 away from pedestal 21 and rotated with support 22
Connection；Adjustment component is located on support 22 and is connected with workbench 23, and Power Component is arranged on pedestal 21 and with adjusting component
Connection, support 22 or workbench 23 is controlled to rotate by adjusting component, the rotary shaft of support 22 and the rotary shaft of workbench 23 are not
It is parallel.
When needing to adjust the angle of workbench 23, it is only necessary to control adjustment component to complete by Power Component, drop
Low hand labor intensity, and due to the setting of pedestal 21 and support 22, Power Component and adjustment component accurate positioning, avoid ultrasound
The unstable phenomenon of image；The rotary shaft of support 22 and the rotary shaft of workbench 23 are not parallel, when needing to be adjusted to certain angle
When, position of the support 22 relative to pedestal 21 can be first adjusted, then adjust position of the workbench 23 relative to support 22, Neng Goushi
Now comprehensive to automatically adjust, degree of regulation is high, can meet the needs of different occasions.
Adjustment component includes spaced first gear 241 and second gear 242, first gear 241 and second gear
Engagement is provided with the 3rd gear 243 between 242, first gear 241, the gear 243 of second gear 242 and the 3rd with 22 turns of support
Dynamic connection, the 3rd gear 243 are connected with workbench 23.First gear 241 is rotated by the first power transmission shaft 244 with support 22 to be connected
Connect, second gear 242 is rotatablely connected by second driving shaft 245 and support 22, and the 3rd gear 243 passes through the 3rd power transmission shaft 246
It is rotatablely connected with support 22, the first power transmission shaft 244, the power transmission shaft 246 of second driving shaft 245 and the 3rd pass through bearing and support 22
Rotation connection.
3rd gear 243 is connected by the 3rd transmission component with workbench 23.3rd transmission component includes and the 3rd gear
243 worm screws 261 being coaxially set and the worm gear 262 being fixedly connected with workbench 23, one end and the worm gear 262 of worm screw 261 are nibbled
Close, the other end of worm screw 261 is connected with the 3rd power transmission shaft 246, and worm screw 261 can be connected with the 3rd power transmission shaft 246 by shaft coupling
Connect or key connection.The rotation of 3rd gear 243 is delivered to workbench 23 by the 3rd transmission component so that workbench 23 can be relative
Rotated in support 22.
Power Component includes the first transmission component and the second transmission component being symmetricly set on pedestal 21, the first transmission group
The output end of part is connected with the first power transmission shaft 244, and the output end of the second transmission component is connected with second driving shaft 245.Power packages
Part also includes being used for the first motor 255 for driving the first transmission component and the second motor 256 for driving the second transmission component.
First transmission component includes the first bevel gear 251 being connected with the coaxial line of the first power transmission shaft 244 and bores tooth with first
The third hand tap gear 252 of the engagement of wheel 251, the second transmission component include the second cone tooth that coaxial line is connected with second driving shaft 245
Wheel 253 and the 4th bevel gear 254 engaged with second bevel gear 253.The output end of first motor 255 and third hand tap gear 252
Connection, the output end of the second motor 256 are connected with the 4th bevel gear 254.First power transmission shaft 244 is fixed with first bevel gear 251
Connection, second driving shaft 245 are fixedly connected with second bevel gear 253.The output end of first motor 255 and third hand tap gear 252
The power transmission shaft at place is connected by shaft coupling, and output end and the power transmission shaft where the 4th bevel gear 254 of the second motor 256 pass through
Shaft coupling is connected.
In the present embodiment, transmission process balance and stability.Pedestal 21 includes bottom plate 211, and the both ends of bottom plate 211 are arranged at intervals
There are the first bearing 212 and the second bearing 213, be provided with three abutments 214 between the first bearing 212 and the second bearing 213, first
The bearing 213 of bearing 212 and second is connected with the first transmission component and the second transmission component respectively, three abutments 214 and support 22
Connection.Support 22 includes middle support plate 221, and middle support plate 221 is in T fonts, one end of middle support plate 221 and three abutments 214
Rotation connection, the relative another both ends of middle support plate 221 are rotatablely connected with the first power transmission shaft 244 and second driving shaft 245 respectively, in
Between the both sides of support plate 221 be symmetrically arranged with the first side plate 222 and the second side plate 223 being connected with workbench 23, pass through worm gear 262
The both ends of rotating shaft 263 of pivot be rotatablely connected respectively with the first side plate 222 and the second side plate 223.Workbench 23 includes
Connecting plate 231 and the first supporting plate 232 and the second supporting plate 233 positioned at the both sides of connecting plate 231, connecting plate 231 are used for treating
Rotate product to be connected, the first supporting plate 232 and the second supporting plate 233 are fixedly connected with rotating shaft 263.
Referring to Figure 11, set so that, as origin, third hand tap gear 252 and the 4th is bored at the rotation connection of support 22 and pedestal 21
Rotary shaft where gear 254 is y-axis, and direction vertical with y-axis and parallel with the first power transmission shaft 244 in Fig. 3 is z-axis, with y-axis
The direction vertical with the plane where z-axis is x-axis.In the present embodiment, the rotary shaft of support 22 is y-axis, and workbench 23 turns
Moving axis is parallel with x-axis, and the rotary shaft of support 22 and the rotary shaft of workbench 23 are vertical.
When need adjusting bracket 22 relative to pedestal 21 angle when, the first motor 255 and the second motor 256 is turned in the same direction
It is dynamic, and then drive the bevel gear 254 of third hand tap gear 252 and the 4th to rotate in same direction, as shown in arrow in Figure 11, nibbled by bevel gear
Close, drive first bevel gear 251 and second bevel gear 253 to rotate backward, by the first power transmission shaft 244 and second driving shaft 245,
So that first gear 241 and second gear 242 have counter-rotational trend, because the 3rd gear 243 is engaged in first gear 241
Between second gear 242, therefore first gear 241 and second gear 242 will not rotate relative to the 3rd gear 243, still
The tooth of first gear 241 and second can apply same direction pressure to the 3rd gear 243, because support 22 and pedestal 21 are the companies of rotation
Connecing, the bevel gear 254 of third hand tap gear 252 and the 4th engages with first bevel gear 251 and second bevel gear 253 respectively, therefore,
Under the driving of power, support 22 rotates around y-axis, meanwhile, the bevel gear 254 of third hand tap gear 252 and the 4th rotates in same direction around y-axis, branch
Frame 22 rotates certain angle relative to pedestal 21, has been achieved in that the rotation of support 22.
When needing support 22 to rotate in the opposite direction, it is necessary to adjust simultaneously the first motor 255 and the second motor 256 to figure
Opposite direction rotates in 3, and principle as above, will not be repeated here.
Referring to Figure 12, when need adjustment work platform 23 relative to support 22 angle when, make the first motor 255 and the second electricity
Machine 256 rotates backward, and then drives the bevel gear 254 of third hand tap gear 252 and the 4th to rotate backward, as shown by the arrows in figure 12,
Engaged by bevel gear, drive first bevel gear 251 and second bevel gear 253 to rotate in same direction, pass through the first power transmission shaft 244 and the
Two power transmission shafts 245 so that first gear 241 and second gear 242 rotate in same direction, because the 3rd gear 243 is engaged in first gear
Between 241 and second gear 242, therefore the 3rd gear 243 is driven to rotate, the rotation direction and first gear of the 3rd gear 243
241st, second gear 242 rotation direction on the contrary, the 3rd gear 243 by worm screw 261 drive worm gear 262 rotate, the band of worm gear 262
Dynamic workbench 23 rotates relative to support 22, and therefore, workbench 23 rotates around the rotary shaft parallel with x-axis, and workbench 23 is relative
Certain angle is rotated in support 22, has been achieved in that the rotation of workbench 23.
When needing workbench 23 to rotate in the opposite direction, it is necessary to adjust simultaneously the first motor 255 and the second motor 256 to
Opposite direction rotates in Figure 11, and principle as above, will not be repeated here.
When the anglec of rotation of support 22 and workbench 23 is required to regulation, first adjusting bracket 22, then adjustment work platform 23,
Or first adjustment work platform 23, then adjusting bracket 22, regulation order is not limited, but support 22 can not with workbench 23
Realize regulation simultaneously.The present embodiment can realize the complete of the angles and positions of ultrasonic probe 4 by above-mentioned Universal adjusting mechanism 2
Orientation automatically adjusts, and degree of regulation is high, and positioning is more accurate, can meet the needs of different occasions.
In the present embodiment, can refer to Figure 14-Figure 16, above-mentioned clamping device 3 include location-plate 31, length adjustment device 32 with
And at least one holder 33, location-plate 11 include upper location-plate 311 and positioned relative to upper location-plate 311 is movably lower
Plate 312, and the upper location-plate 311 and lower location-plate 312 axisymmetricly structure.Above-mentioned holder 33 may be provided at upper location-plate
311 and/or lower location-plate 312 on, the present embodiment holder 33 be provided with two, be separately positioned on upper location-plate 311 and lower positioning
On plate 312, to be gripped to ultrasonic probe 4.
Head and the bar portion of interconnection are generally comprised in view of ultrasonic probe 4, wherein, head and bar portion are connected with each other
Connecting portion for retraction structure, as shown in figure 14, the present embodiment be additionally provided with the upper end of above-mentioned upper location-plate 311 two it is symmetrical
And the baffle plate 313 being obliquely installed, two baffle plates 313 form probe centering component, the upper end of ultrasonic probe 4 i.e. bar portion
Between two baffle plates 313, and by two clampings of baffle plate 313, realize the centering positioning to ultrasonic probe 4.
Two baffle plates 313 are symmetrical arranged relative to the symmetry axis of upper location-plate 311 in the present embodiment, and baffle plate 313 is with surpassing
The surface configuration that sonic probe 4 contacts with each other is coincide, and the baffle plate 313 can ensure the shielded position in the both sides of ultrasonic probe 4
It is identical with area, while the cooperation between baffle plate 313 and ultrasonic probe 4 can avoid ultrasonic probe 4 in the institute of location-plate 31
Planar issuable movement, the stability for the image that ultrasonic probe 4 obtains can be ensured.
In order to further increase the stability of ultrasonic probe 4, baffle plate 313 is arranged on location-plate 31 and above-mentioned holder
Between 33.The both ends of above-mentioned length adjustment device 32 connect upper location-plate 311 and lower location-plate 312 respectively, and it is lower fixed to drive
Position plate 312 moves relative to upper location-plate 311, to adjust the distance between upper location-plate 311 and lower location-plate 312, and then makes
The adjustable length of whole location-plate 31 is obtained, to realize the clamping to the ultrasonic probe 4 of different length.
Specifically, can refer to Figure 15, above-mentioned length adjustment device 32 includes driving lever 321, transmission component and reset assembly, its
Middle driving lever 321 is rotatably connected in upper location-plate 311, and the both ends of transmission component are rotationally connected with driving lever 321 and lower positioning respectively
Plate 312, the position between transmission component both ends is rotatably connected in upper location-plate 311, above-mentioned by stirring driving lever 321 downwards
Transmission component can drive lower location-plate 312 away from upper location-plate 311, and then increase whole under the dynamic action of driving lever 321
The length of individual location-plate 31, to adapt to the bigger ultrasonic probe 4 of length.
Above-mentioned transmission component includes first connecting rod 322, second connecting rod 323, third connecting rod 324, fourth link the 325, the 5th
Connecting rod 326, six-bar linkage 327 and seven-link assembly 328, wherein：
The both ends of above-mentioned fourth link 325 are rotationally connected with driving lever 321 and first connecting rod 322 respectively, and first connecting rod 322 is not
One end of connection fourth link 325 is rotationally connected with second connecting rod 323, the not connected first connecting rod 322 of the second connecting rod 323
One end is rotatablely connected third connecting rod 324, and the position between the both ends of second connecting rod 323 is rotationally connected with upper location-plate 311, above-mentioned
It is in be similar to zigzag structure setting, above-mentioned third connecting rod 324 between first connecting rod 322, second connecting rod 323 and third connecting rod 324
One end of not connected second connecting rod 323 is fixedly connected with push rod 329, and the push rod 329 is connected to lower location-plate 312.
Above-mentioned one end of 5th connecting rod 326 is rotatably connected on the position between the both ends of second connecting rod 323, and the other end, which rotates, to be connected
Six-bar linkage 327 is connected to, one end that the six-bar linkage 327 is not connected with the 5th connecting rod 326 is rotatably connected to seven-link assembly 328, should
One end that seven-link assembly 328 is not connected with six-bar linkage 327 is fixedly connected with push rod 329, and the push rod 329 is connected to lower location-plate
312.It is in be similar to zigzag structure in the present embodiment, between above-mentioned 5th connecting rod 326, six-bar linkage 327 and seven-link assembly 328
Set, the push rod 329 that the push rod 329 and third connecting rod 324 that above-mentioned seven-link assembly 328 connects connect is relative to upper location-plate 311
Symmetry axis be symmetrical arranged.When stirring driving lever 321 downwards, driving lever 321 can drive fourth link 325 to move, fourth link 325
Then drive above-mentioned first connecting rod 322, second connecting rod 323 and third connecting rod 324 and above-mentioned 5th connecting rod 326, six-bar linkage 327
Being moved with seven-link assembly 328, third connecting rod 324 and seven-link assembly 328 drive the push rod 329 affixed with it to move down respectively,
Lower location-plate 312 is forced away from upper location-plate 311, the length of whole location-plate 11 is increased, and then it is bigger to adapt to length
Ultrasonic probe 4.
In the present embodiment, further, the rotating joint A between above-mentioned 5th connecting rod 326 and first connecting rod 322 and
The line of rotating joint B between two connecting rods 323 and upper location-plate 311 is located at where the symmetry axis of the upper location-plate 311
On central plane.By the design of the structure, enable to the transmission of transmission component power evenly to stablize, and then cause two and push away
Bar 329 can synchronously promote lower location-plate 312.
Further, can be rotated between above-mentioned 5th connecting rod 326 and first connecting rod 322 by bearing pin (not shown)
Connection, above-mentioned bearing pin are also fixedly connected with sliding block 32a, chute 32b are provided with upper location-plate 311, chute 32b is relative to fixed
The symmetry axis of position plate 31 is axisymmetricly set, and above-mentioned sliding block 32a is slidably arranged in chute 32b.Pass through sliding block 32a and cunning
Groove 32b setting, when stirring driving lever 321 whole transmission component can be avoided left and right displacement occur so that whole transmission component
It is merely able to transmit downward power to push rod 329, in order to which push rod 329 more smoothly promotes lower location-plate 312.
Above-mentioned reset assembly is connected to upper location-plate 311 and lower location-plate 312, specifically, above-mentioned reset assembly can be
Spring 32c, it is provided with two, is symmetricly set on location-plate 31, and each spring 32c both ends are all connected to upper location-plate
311 and lower location-plate 312.Can refer to Figure 16, in upper location-plate 311 and lower location-plate 312 respectively symmetrically open up it is fluted,
And the groove of the groove of upper location-plate 311 and corresponding lower location-plate 312 is collectively forming a groove for placing spring 32c,
When upper location-plate 311 is away from lower location-plate 312, above-mentioned spring 32c is in extended state, when dialing up driving lever 321, this
When push rod 329 lack downward power, location-plate 312 move up under being driven in the presence of spring 32c, and finally with it is upper fixed
Position plate 311 is bonded.
The present embodiment can effectively realize the length adjustment of location-plate 31, and then to determine by above-mentioned transmission component
The ultrasonic probe 4 of different length is fixed on the plate 31 of position, application is more extensive.
Above-mentioned holder 33 is used to realize the clamping to ultrasonic probe 4, specifically, the holder 33 is in semi-circular knot
Structure, above-mentioned ultrasonic probe 4 are placed between the holder 33 and location-plate 11, and by the clamping position of holder 33.Above-mentioned folder
Gripping member 33 sets two, is separately fixed in upper location-plate 311 and lower location-plate 312, is visited for gripping above-mentioned ultrasonic wave
First 4 head and bar portion, it by way of being fixed both ends, can ensure that ultrasonic probe 4 obtains strong clamping, ensure to check
During ultrasonic image stability.It is understood that the number of above-mentioned holder 33 can be according to the length of ultrasonic probe 4
Degree is configured, such as when ultrasonic probe 4 is longer, can in order to further provide for the stability of its caused ultrasonic image
To set three even more holders 33.
In the present embodiment, above-mentioned holder 33 can be that the pneumatic muscles that both ends are each attached on location-plate 31 (are specifically
One pneumatic muscles is respectively set in upper location-plate 311 and lower location-plate 312), gas inlet and outlet is provided with the pneumatic muscles
131, when pneumatic muscles are evacuated by gas inlet and outlet 131, above-mentioned pneumatic muscles can be shunk, and ultrasonic probe 4 is clamped
It is fixed on location-plate 31, when pneumatic muscles are inflated by gas inlet and outlet 131, above-mentioned pneumatic muscles expansion, ultrasonic wave is visited
First 4 can extract pneumatic muscles out.
Above-mentioned holder 33 can also be adjustable spring 32c, and adjustable spring 32c both ends are fixed on location-plate 11 (tool
Body is that an adjustable spring 32c is respectively set on upper location-plate 311 and lower location-plate 312), specific adjustable spring 32c can be
Expand with heat and contract with cold spring, by heating cooling control and adjusting the chucking power to ultrasonic probe 4.
It is understood that above-mentioned holder 33 can also be other structures that can clamp and unclamp ultrasonic probe 4,
And it is not limited only to above-mentioned pneumatic muscles and adjustable spring 32c structure.
The present embodiment can clamp the ultrasonic probe 4 of different length by above-mentioned clamping device 3, and without operator
Member's hand-held ultrasound probe 4, reduces labor intensity, ultrasonic image caused by avoiding operating personnel's hand shaking is unstable.
Ultrasound machine people's inspection system that the present embodiment provides, when using the inspection system, operator passes through observation
The image information that image checking component is shown, control inspection machine people to carry out ultrasonic examination to patient using operating side, pass through
The position of ultrasonic probe and the conversion of posture are realized in operating side, can mitigate the burden of doctor, avoid making because of hand-motion jitter
Into the ultrasonic image instability problem of feedback, the quality of the ultrasonic image of acquisition is improved.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, there will be changes, this specification content should not be construed as to the present invention in specific embodiments and applications
Limitation.
Claims (10)
- A kind of 1. ultrasound machine people inspection system, it is characterised in that including：Inspection machine people (100), including ultrasonic probe (4), for carrying out ultrasonic examination to patient；Image checking component, for gathering image information and the display of patient and inspection machine people (100)；Operating side (300), for receiving the operation information of operator；Controller (400), electrically connected respectively with detection robot, the image checking component and the operation handle, institute The operation information that controller (400) receives according to the operation handle is stated, controls the inspection machine people (100) to work.
- 2. inspection system as claimed in claim 1, it is characterised in that the image checking component include image capture module and Image display, described image acquisition module are located at the top of patient's detection position and are connected with described image display module.
- 3. inspection system as claimed in claim 2, it is characterised in that described image acquisition module is camera (201)；It is described Image display is display (202).
- 4. such as the inspection system any one of claim 1-3, it is characterised in that the operating side (300) includes operation Handle, the operation handle set force feedback component, and the force feedback component is used for the power that sense operation person applies, and transmits To the controller (400).
- 5. such as the inspection system any one of claim 1-3, it is characterised in that the inspection machine people (100) is also wrapped Include：Clamping device (3), for clamping the ultrasonic probe (4), the adjustable length of the clamping device (3), to clamp not With the ultrasonic probe (4) of length；Universal adjusting mechanism (2), the clamping device (3) is installed thereon, for adjust the clamping device (3) angle and Position；Positioning mechanical arm (1), it is connected with the Universal adjusting mechanism (2).
- 6. inspection system as claimed in claim 5, it is characterised in that the positioning mechanical arm (1) includes：Fixed seat (11)；First mechanical arm (12), it is rotationally connected with the fixed seat (11), and with being installed on the first of the fixed seat (11) Drive mechanism connects, and first drive mechanism drives the first mechanical arm (12) to be rotated around the first direction of rotation；Second mechanical arm (13), it is rotationally connected with the first mechanical arm (12), and with being installed on the first mechanical arm (12) the second drive mechanism connection on, second drive mechanism drive the second mechanical arm (13) around the second direction of rotation Rotate；Three-mechanical arm (14), it is rotationally connected with the second mechanical arm (13), and with being installed on the second mechanical arm (13) the 3rd drive mechanism connection on, the 3rd drive mechanism drive the three-mechanical arm to be rotated around the 3rd direction of rotation；4th mechanical arm (15), it is rotationally connected with three-mechanical arm (14), and with being installed on the three-mechanical arm (14) The 4th drive mechanism connection, the 4th drive mechanism can drive the 4th mechanical arm (15) around the 4th direction of rotation revolve Turn；5th mechanical arm (16), it is rotationally connected with the 4th mechanical arm (15), and with being installed on the 4th mechanical arm (15) the 5th drive mechanism connection on, the 5th drive mechanism can drive the 5th mechanical arm (16) around the 5th rotation Direction rotates；The Universal adjusting mechanism (2) is arranged on the 5th mechanical arm (16), and with being installed on the 5th mechanical arm (16) the 6th drive mechanism connection on, the 6th drive mechanism can drive the Universal adjusting mechanism (2) around the 6th rotation Turn direction to rotate.
- 7. inspection system as claimed in claim 5, it is characterised in that the Universal adjusting mechanism (2) includes：Pedestal (21)；Support (22), it is rotatablely connected with the pedestal (21)；Workbench (23), company is rotated positioned at the one end of the support (22) away from the pedestal (21) and with the support (22) Connect；Component is adjusted, is connected on the support (22) and with the workbench (23)；Power Component, is arranged on the pedestal (21) and is connected with the adjustment component, and institute is controlled by the adjustment component State support (22) or the workbench (23) rotates, the rotary shaft of the support (22) and the rotary shaft of the workbench (23) are not It is parallel.
- 8. inspection system as claimed in claim 7, it is characterised in that the adjustment component includes spaced first gear (241) and second gear (242), engaged between the first gear (241) and the second gear (242) and be provided with the 3rd tooth Take turns (243), the first gear (241), the second gear (242) and the 3rd gear (243) with the support (22) it is rotatablely connected, the 3rd gear (243) is connected with the workbench (23)；The first gear (241) in the same direction or rotates backward with the second gear (242), for driving the workbench (23) Or the support (22) rotates.
- 9. inspection system as claimed in claim 5, it is characterised in that the clamping device (3) includes length-adjustable positioning Plate (31), and at least one holder (33) being arranged on the location-plate (31), the ultrasonic probe (4) is by described Holder (33) is gripped, and the location-plate (31) is arranged on the Universal adjusting mechanism (2) and by the universal adjustment Mechanism (2) adjusts angles and positions.
- 10. inspection system as claimed in claim 9, it is characterised in that the location-plate (31) include upper location-plate (311) and Lower location-plate (312), length adjustment device (32), the length are provided between the upper location-plate (311) and lower location-plate (312) Degree adjusting means (32) includes driving lever (321), transmission component and reset assembly, and the driving lever (321) is rotatably connected on described On location-plate (311), the both ends of the transmission component are rotationally connected with the driving lever (321) and the lower location-plate respectively (312), the position between the transmission component both ends is rotatably connected in the upper location-plate (311), and the reset assembly connects It is connected to the upper location-plate (311) and the lower location-plate (312).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710797677.6A CN107440745A (en) | 2017-09-06 | 2017-09-06 | A kind of ultrasound machine people inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710797677.6A CN107440745A (en) | 2017-09-06 | 2017-09-06 | A kind of ultrasound machine people inspection system |
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| CN107440745A true CN107440745A (en) | 2017-12-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710797677.6A Withdrawn CN107440745A (en) | 2017-09-06 | 2017-09-06 | A kind of ultrasound machine people inspection system |
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| CN (1) | CN107440745A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108392223A (en) * | 2018-04-09 | 2018-08-14 | 温州市中心医院 | Automatic ultrasonic probe fixing device |
| CN108784663A (en) * | 2018-04-24 | 2018-11-13 | 卢东杰 | The monitor device of heart is used in Cardiological |
| CN108814691A (en) * | 2018-06-27 | 2018-11-16 | 无锡祥生医疗科技股份有限公司 | The ultrasonic guidance auxiliary device and system of needle |
| CN109260586A (en) * | 2018-07-23 | 2019-01-25 | 深圳先进技术研究院 | A kind of radioactive prospecting instrument operating robot |
| CN109330626A (en) * | 2018-11-16 | 2019-02-15 | 中聚科技股份有限公司 | A kind of device and method of automatic adjusument ultrasound probe position |
| CN110123377A (en) * | 2019-05-27 | 2019-08-16 | 速诺视(上海)医疗科技有限公司 | Ultrasonic examination system |
| CN111012376A (en) * | 2019-12-03 | 2020-04-17 | 南阳市中心医院 | Display device with color Doppler ultrasound image self-adaption function |
| CN111134724A (en) * | 2020-01-21 | 2020-05-12 | 深圳瀚维智能医疗科技有限公司 | Mammary gland ultrasonic scanning bed |
| CN111544039A (en) * | 2020-05-19 | 2020-08-18 | 南京信息职业技术学院 | Working method of color Doppler ultrasound examination cooperation device |
| CN111544040A (en) * | 2020-05-19 | 2020-08-18 | 南京信息职业技术学院 | Working method of device for assisting doctor color ultrasound examination |
| CN112386278A (en) * | 2019-08-13 | 2021-02-23 | 通用电气精准医疗有限责任公司 | Method and system for camera assisted ultrasound scan setup and control |
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2017
- 2017-09-06 CN CN201710797677.6A patent/CN107440745A/en not_active Withdrawn
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108392223A (en) * | 2018-04-09 | 2018-08-14 | 温州市中心医院 | Automatic ultrasonic probe fixing device |
| CN108784663A (en) * | 2018-04-24 | 2018-11-13 | 卢东杰 | The monitor device of heart is used in Cardiological |
| CN108814691A (en) * | 2018-06-27 | 2018-11-16 | 无锡祥生医疗科技股份有限公司 | The ultrasonic guidance auxiliary device and system of needle |
| CN109260586A (en) * | 2018-07-23 | 2019-01-25 | 深圳先进技术研究院 | A kind of radioactive prospecting instrument operating robot |
| CN109330626A (en) * | 2018-11-16 | 2019-02-15 | 中聚科技股份有限公司 | A kind of device and method of automatic adjusument ultrasound probe position |
| CN110123377A (en) * | 2019-05-27 | 2019-08-16 | 速诺视(上海)医疗科技有限公司 | Ultrasonic examination system |
| CN112386278A (en) * | 2019-08-13 | 2021-02-23 | 通用电气精准医疗有限责任公司 | Method and system for camera assisted ultrasound scan setup and control |
| CN111012376A (en) * | 2019-12-03 | 2020-04-17 | 南阳市中心医院 | Display device with color Doppler ultrasound image self-adaption function |
| CN111134724A (en) * | 2020-01-21 | 2020-05-12 | 深圳瀚维智能医疗科技有限公司 | Mammary gland ultrasonic scanning bed |
| WO2021147389A1 (en) * | 2020-01-21 | 2021-07-29 | 深圳瀚维智能医疗科技有限公司 | Ultrasonic mammary gland scanning bed |
| CN111544039A (en) * | 2020-05-19 | 2020-08-18 | 南京信息职业技术学院 | Working method of color Doppler ultrasound examination cooperation device |
| CN111544040A (en) * | 2020-05-19 | 2020-08-18 | 南京信息职业技术学院 | Working method of device for assisting doctor color ultrasound examination |
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Effective date of registration: 20190916 Address after: 518000 No. 3002, Shaanggang West Road, Huafu Street, Futian District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Institute of Gerontology Address before: 518035 room 3002, Yinhua building, 823 West Sungang Road, Lianhua street, Shenzhen, Guangdong, Futian District Applicant before: Shenzhen Rui Rui Medical Automation Co., Ltd. |
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Application publication date: 20171208 |